#include "arm_demo/lebai_demo.h"
int main(int argc, char **argv)
{
    ros::init(argc, argv, "arm_fk_demo"); //初始化ros节点
    ros::NodeHandle n; //Create a node handle //创建节点句柄
    ros::AsyncSpinner spinner(1); //异步启停，开启指定数量的Spinner线程并发执行Callback队列中的可用回调。
    spinner.start();
    moveit::planning_interface::MoveGroupInterface arm("manipulator");
    LeBai lebai(n,arm);
    lebai.moveCartesian();
	ros::shutdown(); 
}
